#ifndef _WENX_VAR_
#define _WENX_VAR_

extern unsigned long CT_INT_PIT0;
extern unsigned long CT_INT_UART0;
extern unsigned long CT_INT_UART1;
extern unsigned long CT_INT_ADC0;
extern unsigned long CT_INT_ADC1;
extern unsigned long CT_INT_ADCRANGE;
extern unsigned long SPDA0;
extern unsigned long SPDA1;
extern unsigned long SPDB0;
extern unsigned long SPDB1;
extern unsigned char lastreadbyte;


extern float TSPD,TSPDA,TSPDB,SPD;
extern float DC1,DC2,DC3;
extern float gyro,gyroMID;
extern float Degree_Distance;
extern float Control_Speed;

extern float Degree_Distance_MID,turnbalance;
extern float STAND_P,STAND_D,SPEED_P,SPEED_I,Offset_P,Offset_D,PosOffsetMax;

extern float This_offset,TargetSPD,SPDlimit,MAXDC_CONTROL,Offset_gyro_D,Pre_DC1,DC_gyro,DC_gyroMID,DCOffset,SpeedOffset,Pre_SPD,SPDA,SPDB;
extern float Destination,Position;
extern float SPD0;
void solve();
void initvalue();
#endif
